Quick start

To try this package without real robot, type following command in a terminal:

$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true

The argument "simulation:=true" set the controller into loop-back mode, to emulate real hardware.

And type this command in another terminal:

$ roslaunch tra1_bringup tra1_moveit.launch

Now you can see MoveIt! rviz interface to control the robot.

If you have real tra1 robot (so lucky!), remove the "simulation" argument from roslaunch.

Enjoy!

Package contents

This package contains launch and config files. The files are organized in following directories.

• launch/ contains the launch files to start the system.

• config/ contains the configuration files for MoveIt!